Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -3.2

MISSION 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 35 SM_CC 595.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 0 C_VBD 2890 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 180 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 7

T_BOOST 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_FINISH 0 CALL_TRIES 5 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 35

D_PITCH 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_SAFE 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

D_CALL 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 0 T_GPS 5 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 0 T_RSLEEP 3 LOITER_D_TOP 0 GPS_DEVICE 48

T_DIVE 50 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 96

T_MISSION 85 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 120 PITCH_MIN 220 MINV_24V 11 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3610 MINV_10V 11 SIM_W 0

T_EPIRB 0 C_PITCH 1688.8374 MAXI_24V 5 SEABIRD_T_G 0.0043000001

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00063999998

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 22.353483 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.587025 FG_AHR_24V 9.5900984 SEABIRD_T_J 4.3e-06

D_OFFGRID 100 PITCH_TIMEOUT 30 PHONE_SUPPLY 2 SEABIRD_C_G -10

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -182.32567 SEABIRD_C_H 1

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_I -0.0020000001

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00019999999

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 0

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

MASS 72936 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 195 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3800 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2000 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2000 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 0 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 0 N_NOSURFACE 0 SEABIRD_C_H 1

AH0_24V 575 D_SURF 2 OPTIONS 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PHONE_DEVICE 33 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 FG_AHR_10V 22.353483 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 9.5900984 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.587025 SM_CC 595.40039

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3610 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 220 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_C 1.6e-05 PITCH_TIMEOUT 30 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 ID 242 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 15 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3.2 PM_PROFILE 3.0 T_DIVE 50

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 5

C_PITCH 1688.8374 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 85

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 120

C_ROLL_CLIMB 2000 LOGGERS 7 PRESSURE_SLOPE 0.00022512203 T_RSLEEP 3

C_ROLL_DIVE 2000 LOITER_DBDW 0 PRESSURE_YINT -182.32567 T_TURN 225

C_VBD 2890 LOITER_D_BOTTOM 0 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_W_DBAND 0 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72936 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 1.5 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.0275 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 11 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 11 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 2 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 720

DIVE 35 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 180 NAV_DEVICE 6 ROLL_MAXERRORS 1 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 2 ROLL_MIN 195 XPDR_INHIBIT 90

D_CALL 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 XPDR_INT 0

D_FINISH 0 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 0 SC_PROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 200 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 100 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 0 N_NOCOMM 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 140722,140307,4719.798,-12523.907,1,1.0,4,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,140703,4719.790,-12523.876,2,1.0,4,15.8 MHEAD_RNG_PITCHd_Wd 282.9,157,-27.2,-10.000,-30.00,972,0.178

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.831177,-865.940430,-659.763184

TGT_LATLONG 4719.800,-12524.000

Post-dive calculations and measurements:

NET CACST,8,0,20220714144013.281177,06,32766,45,0247,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,32.3,9.60,-100,-6.60,-01,0.08,35,10000,5000,0,-1,00,00*5D INTERNAL_PRESSURE 7.81436

NET_PING 1657809614,27,4531.004883,32.299999,-6.034784 _24V_AH 14.81,10.213

MODEM_MSG CACST,8,0,20220714143003.015534,18,32767,33,0106,0000,246,02,02,02,02,1,025,121,0,5,1,0,150,-1.6,5.49,-100,-2.49,-01,0.28,76,925,0025,0,1,00,00*3D _10V_AH 14.81,0.000

NAV 1657810741,7.8,start FG_AHR_24Vo 9.739

FINISH 0.3,1.004883 FG_AHR_10Vo 22.429

SM_CCo 3306.22,84.72,0.925,0,500.2,557.1,443.3,586.22 MEM0 60108,1,0,0

SM_GC 1.82,84.72,12.50,0.12,0.925,0.052,0.135,500.2,557.1,443.3,196.6,1957.9,0,0,0,11.69,15.62,15.63 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 966196,25,80492,69

IRIDIUM_FIX 4719.30,-12520.08,140722,130528 DATA_FILE_SIZE 12917,497

TCM_TEMP 16.00 CAP_FILE_SIZE 153027,0

SC_FREEKB 3867584 SDSIZE 3887104,3859360

PM_FREEKB_00 60400960 SDFILEDIR 346,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1657809003,47.29460,-125.37640,1803.016,2641417.8 CURRENT 0.114,131.2,1

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 MAGCAL 1.000000,0.031783,0.005797,-0.004311,1.043628,-0.065721,0.002818,-0.045487,0.980061,748.8,-859.5,-640.2,34,0.0244,1

HUMID 50.70 IMPLIED_C_PITCH 1683,16.45,223,1685.9,16.52

TEMP 12.16 GPS 140722,150339,4719.756,-12523.847,3,1.2,13,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 621 1103 10157.22 nil 0 0 0.00

Pitch_motor 27 269 107.94 nil 0 0 0.00

Roll_motor 42 169 107.04 nil 0 0 0.00

Iridium 153 214 486.92 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.91 nil 0 0 0.00

Core 2182 5 165.48 SciCon 3194 6 328.00

Fast 1 0 0.00 PMAR 3206 12 608.37

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1250 0 5.93

Compass 1022 5 75.74

RAFOS 2822 40 1672.01

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12.68 16386 -63.62 -1.72 0.00 494.2 546.8 441.5 199.2 2039.2 0.00 0.00 0 72.96 55.71 0.00 0.00 0.005 0.000 0.000 1860.41 1892.38 1828.44 199.06 2040.69 0 0 0 15.62 30.00 30.00

73.39 18467 -132.50 -1.80 0.00 1860.4 1892.2 1828.6 199.2 2040.2 3.07 -2.72 11 135.13 40.92 8.34 0.00 0.005 0.270 0.000 3428.19 3459.75 3396.62 1251.50 2040.44 0 0 0 15.66 15.51 30.00

316.68 260 -132.50 -1.80 80.00 3431.2 3465.4 3396.9 1251.2 2040.1 64.69 -22.70 52 323.14 0.00 0.00 3.47 0.000 0.000 0.108 3431.97 3466.25 3397.69 1251.69 3466.69 0 0 0 30.00 30.00 15.66

356.69 1028 -132.50 -1.80 0.00 3431.0 3465.8 3396.1 1251.9 3468.4 73.38 -21.20 60 363.23 0.00 0.00 3.43 0.000 0.000 0.054 3432.22 3466.31 3398.12 1251.56 1974.56 0 0 0 30.00 30.00 15.71

546.76 0 -132.50 -1.80 0.00 3431.7 3467.6 3395.9 1251.2 1972.5 107.97 -16.91 80 548.52 0.00 0.00 0.00 0.000 0.000 0.000 3431.06 3466.38 3395.75 1251.62 1973.00 0 0 0 30.00 30.00 30.00

736.78 516 -132.50 -1.80 -80.00 3432.8 3469.4 3396.1 1251.6 1972.4 144.51 -19.86 99 748.63 0.00 0.00 3.53 0.000 0.000 0.121 3432.41 3468.31 3396.50 1251.75 531.56 0 0 0 30.00 30.00 15.64

756.59 1028 -132.50 -1.80 0.00 3432.7 3468.1 3397.4 1251.4 531.6 148.86 -20.28 102 764.96 0.00 0.00 3.42 0.000 0.000 0.049 3433.03 3468.88 3397.19 1251.69 2031.31 0 0 0 30.00 30.00 15.76

772 end dive: TARGET_DEPTH_EXCEEDED

state 772 begin apogee

774.03 10243 0.00 -0.30 0.00 3433.2 3468.9 3397.4 1251.9 1963.3 152.27 -21.83 104 883.05 96.02 2.54 0.11 1.104 0.166 0.169 2888.66 2974.69 2802.62 1617.12 2039.50 0 0 0 11.74 15.70 15.44

885 end apogee: CONTROL_FINISHED_OK

state 885 begin climb

885.62 10243 132.50 1.80 0.00 2886.7 2974.1 2799.3 1617.4 2039.9 158.32 0.00 114 1000.34 96.90 3.34 0.00 1.075 0.087 0.000 2347.50 2439.88 2255.12 2129.88 2040.25 0 0 0 11.57 15.45 30.00

1183.81 16386 132.50 1.80 -80.00 2340.8 2430.8 2250.8 2130.3 2040.8 128.30 13.81 146 1185.61 0.00 0.00 0.00 0.000 0.000 0.000 2339.38 2430.00 2248.75 2129.56 2040.81 0 0 0 30.00 30.00 30.00

1372.92 16902 132.50 1.80 -80.00 2339.6 2430.2 2249.1 2130.4 2040.9 106.91 10.13 165 1381.21 0.00 0.00 3.72 0.000 0.000 0.119 2338.78 2428.81 2248.75 2130.00 533.00 0 0 0 30.00 30.00 15.64

1609.82 9254 167.89 1.85 0.00 2335.7 2422.6 2248.8 2130.1 532.7 84.38 6.26 212 1645.86 26.56 0.00 3.44 1.004 0.000 0.049 2202.69 2298.00 2107.38 2130.19 2034.12 0 0 0 11.87 30.00 15.73

1829.39 8742 212.66 1.90 -80.00 2198.6 2291.9 2105.2 2130.2 2034.2 72.22 5.27 237 1875.21 33.47 0.00 3.78 1.002 0.000 0.119 2019.72 2115.75 1923.69 2130.31 531.69 0 0 0 11.87 30.00 15.57

2106.00 11303 242.71 1.94 0.00 2013.6 2104.4 1922.7 2130.5 531.4 53.82 6.82 291 2141.11 23.15 0.17 3.45 0.974 0.085 0.049 1898.66 1997.06 1800.25 2170.69 2035.50 0 0 0 11.82 15.68 15.71

2326.04 8486 297.28 2.01 80.00 1893.3 1991.4 1795.2 2170.8 2035.2 40.21 4.23 332 2377.26 40.28 0.00 3.52 0.979 0.000 0.111 1677.09 1774.56 1579.62 2171.44 3466.19 0 0 0 11.91 30.00 15.56

2558.96 9254 318.93 2.03 0.00 1671.0 1762.8 1579.3 2171.6 3466.4 22.33 7.71 377 2588.01 16.85 0.00 3.45 0.919 0.000 0.056 1589.84 1683.56 1496.12 2170.62 1974.00 0 0 0 11.70 30.00 15.69

2771.56 10791 372.55 2.10 -80.00 1584.6 1678.6 1490.6 2171.8 1973.5 13.46 4.33 419 2822.97 39.17 0.14 3.59 0.952 0.091 0.124 1370.22 1465.44 1275.00 2216.38 532.94 0 0 0 11.71 15.76 15.61

2981.58 9254 465.34 2.21 0.00 1364.1 1454.5 1273.8 2216.1 533.2 10.96 0.19 460 3064.84 67.59 0.00 3.43 0.947 0.000 0.049 991.59 1081.12 902.06 2216.31 2038.00 0 0 0 11.98 30.00 15.75

3154 end climb: SURFACE_DEPTH_REACHED

state 3154 begin surface coast

3184 end surface coast: CONTROL_FINISHED_OK

state 3184 begin surface

ID	242	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-3.2
MISSION	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	35	SM_CC	595.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	0	C_VBD	2890	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	180	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	7
T_BOOST	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_FINISH	0	CALL_TRIES	5	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	35
D_PITCH	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_SAFE	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
D_CALL	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	0	T_GPS	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	0	T_RSLEEP	3	LOITER_D_TOP	0	GPS_DEVICE	48
T_DIVE	50	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	96
T_MISSION	85	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	120	PITCH_MIN	220	MINV_24V	11	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3610	MINV_10V	11	SIM_W	0
T_EPIRB	0	C_PITCH	1688.8374	MAXI_24V	5	SEABIRD_T_G	0.0043000001
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00063999998
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	22.353483	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.587025	FG_AHR_24V	9.5900984	SEABIRD_T_J	4.3e-06
D_OFFGRID	100	PITCH_TIMEOUT	30	PHONE_SUPPLY	2	SEABIRD_C_G	-10
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-182.32567	SEABIRD_C_H	1
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_I	-0.0020000001
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00019999999
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	0
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	72936	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	195	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3800	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2000	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2000	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	0	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	140722,140307,4719.798,-12523.907,1,1.0,4,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,140703,4719.790,-12523.876,2,1.0,4,15.8	MHEAD_RNG_PITCHd_Wd	282.9,157,-27.2,-10.000,-30.00,972,0.178
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.831177,-865.940430,-659.763184
TGT_LATLONG	4719.800,-12524.000

NET	CACST,8,0,20220714144013.281177,06,32766,45,0247,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,32.3,9.60,-100,-6.60,-01,0.08,35,10000,5000,0,-1,00,00*5D	INTERNAL_PRESSURE	7.81436
NET_PING	1657809614,27,4531.004883,32.299999,-6.034784	_24V_AH	14.81,10.213
MODEM_MSG	CACST,8,0,20220714143003.015534,18,32767,33,0106,0000,246,02,02,02,02,1,025,121,0,5,1,0,150,-1.6,5.49,-100,-2.49,-01,0.28,76,925,0025,0,1,00,00*3D	_10V_AH	14.81,0.000
NAV	1657810741,7.8,start	FG_AHR_24Vo	9.739
FINISH	0.3,1.004883	FG_AHR_10Vo	22.429
SM_CCo	3306.22,84.72,0.925,0,500.2,557.1,443.3,586.22	MEM0	60108,1,0,0
SM_GC	1.82,84.72,12.50,0.12,0.925,0.052,0.135,500.2,557.1,443.3,196.6,1957.9,0,0,0,11.69,15.62,15.63	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	966196,25,80492,69
IRIDIUM_FIX	4719.30,-12520.08,140722,130528	DATA_FILE_SIZE	12917,497
TCM_TEMP	16.00	CAP_FILE_SIZE	153027,0
SC_FREEKB	3867584	SDSIZE	3887104,3859360
PM_FREEKB_00	60400960	SDFILEDIR	346,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1657809003,47.29460,-125.37640,1803.016,2641417.8	CURRENT	0.114,131.2,1
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	MAGCAL	1.000000,0.031783,0.005797,-0.004311,1.043628,-0.065721,0.002818,-0.045487,0.980061,748.8,-859.5,-640.2,34,0.0244,1
HUMID	50.70	IMPLIED_C_PITCH	1683,16.45,223,1685.9,16.52
TEMP	12.16	GPS	140722,150339,4719.756,-12523.847,3,1.2,13,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	621	1103	10157.22	nil	0	0	0.00
Pitch_motor	27	269	107.94	nil	0	0	0.00
Roll_motor	42	169	107.04	nil	0	0	0.00
Iridium	153	214	486.92	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.91	nil	0	0	0.00
Core	2182	5	165.48	SciCon	3194	6	328.00
Fast	1	0	0.00	PMAR	3206	12	608.37
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1250	0	5.93
Compass	1022	5	75.74
RAFOS	2822	40	1672.01
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12.68	16386	-63.62	-1.72	0.00	494.2	546.8	441.5	199.2	2039.2	0.00	0.00	0	72.96	55.71	0.00	0.00	0.005	0.000	0.000	1860.41	1892.38	1828.44	199.06	2040.69	0	0	0	15.62	30.00	30.00
73.39	18467	-132.50	-1.80	0.00	1860.4	1892.2	1828.6	199.2	2040.2	3.07	-2.72	11	135.13	40.92	8.34	0.00	0.005	0.270	0.000	3428.19	3459.75	3396.62	1251.50	2040.44	0	0	0	15.66	15.51	30.00
316.68	260	-132.50	-1.80	80.00	3431.2	3465.4	3396.9	1251.2	2040.1	64.69	-22.70	52	323.14	0.00	0.00	3.47	0.000	0.000	0.108	3431.97	3466.25	3397.69	1251.69	3466.69	0	0	0	30.00	30.00	15.66
356.69	1028	-132.50	-1.80	0.00	3431.0	3465.8	3396.1	1251.9	3468.4	73.38	-21.20	60	363.23	0.00	0.00	3.43	0.000	0.000	0.054	3432.22	3466.31	3398.12	1251.56	1974.56	0	0	0	30.00	30.00	15.71
546.76	0	-132.50	-1.80	0.00	3431.7	3467.6	3395.9	1251.2	1972.5	107.97	-16.91	80	548.52	0.00	0.00	0.00	0.000	0.000	0.000	3431.06	3466.38	3395.75	1251.62	1973.00	0	0	0	30.00	30.00	30.00
736.78	516	-132.50	-1.80	-80.00	3432.8	3469.4	3396.1	1251.6	1972.4	144.51	-19.86	99	748.63	0.00	0.00	3.53	0.000	0.000	0.121	3432.41	3468.31	3396.50	1251.75	531.56	0	0	0	30.00	30.00	15.64
756.59	1028	-132.50	-1.80	0.00	3432.7	3468.1	3397.4	1251.4	531.6	148.86	-20.28	102	764.96	0.00	0.00	3.42	0.000	0.000	0.049	3433.03	3468.88	3397.19	1251.69	2031.31	0	0	0	30.00	30.00	15.76
772	end dive: TARGET_DEPTH_EXCEEDED
state	772	begin apogee
774.03	10243	0.00	-0.30	0.00	3433.2	3468.9	3397.4	1251.9	1963.3	152.27	-21.83	104	883.05	96.02	2.54	0.11	1.104	0.166	0.169	2888.66	2974.69	2802.62	1617.12	2039.50	0	0	0	11.74	15.70	15.44
885	end apogee: CONTROL_FINISHED_OK
state	885	begin climb
885.62	10243	132.50	1.80	0.00	2886.7	2974.1	2799.3	1617.4	2039.9	158.32	0.00	114	1000.34	96.90	3.34	0.00	1.075	0.087	0.000	2347.50	2439.88	2255.12	2129.88	2040.25	0	0	0	11.57	15.45	30.00
1183.81	16386	132.50	1.80	-80.00	2340.8	2430.8	2250.8	2130.3	2040.8	128.30	13.81	146	1185.61	0.00	0.00	0.00	0.000	0.000	0.000	2339.38	2430.00	2248.75	2129.56	2040.81	0	0	0	30.00	30.00	30.00
1372.92	16902	132.50	1.80	-80.00	2339.6	2430.2	2249.1	2130.4	2040.9	106.91	10.13	165	1381.21	0.00	0.00	3.72	0.000	0.000	0.119	2338.78	2428.81	2248.75	2130.00	533.00	0	0	0	30.00	30.00	15.64
1609.82	9254	167.89	1.85	0.00	2335.7	2422.6	2248.8	2130.1	532.7	84.38	6.26	212	1645.86	26.56	0.00	3.44	1.004	0.000	0.049	2202.69	2298.00	2107.38	2130.19	2034.12	0	0	0	11.87	30.00	15.73
1829.39	8742	212.66	1.90	-80.00	2198.6	2291.9	2105.2	2130.2	2034.2	72.22	5.27	237	1875.21	33.47	0.00	3.78	1.002	0.000	0.119	2019.72	2115.75	1923.69	2130.31	531.69	0	0	0	11.87	30.00	15.57
2106.00	11303	242.71	1.94	0.00	2013.6	2104.4	1922.7	2130.5	531.4	53.82	6.82	291	2141.11	23.15	0.17	3.45	0.974	0.085	0.049	1898.66	1997.06	1800.25	2170.69	2035.50	0	0	0	11.82	15.68	15.71
2326.04	8486	297.28	2.01	80.00	1893.3	1991.4	1795.2	2170.8	2035.2	40.21	4.23	332	2377.26	40.28	0.00	3.52	0.979	0.000	0.111	1677.09	1774.56	1579.62	2171.44	3466.19	0	0	0	11.91	30.00	15.56
2558.96	9254	318.93	2.03	0.00	1671.0	1762.8	1579.3	2171.6	3466.4	22.33	7.71	377	2588.01	16.85	0.00	3.45	0.919	0.000	0.056	1589.84	1683.56	1496.12	2170.62	1974.00	0	0	0	11.70	30.00	15.69
2771.56	10791	372.55	2.10	-80.00	1584.6	1678.6	1490.6	2171.8	1973.5	13.46	4.33	419	2822.97	39.17	0.14	3.59	0.952	0.091	0.124	1370.22	1465.44	1275.00	2216.38	532.94	0	0	0	11.71	15.76	15.61
2981.58	9254	465.34	2.21	0.00	1364.1	1454.5	1273.8	2216.1	533.2	10.96	0.19	460	3064.84	67.59	0.00	3.43	0.947	0.000	0.049	991.59	1081.12	902.06	2216.31	2038.00	0	0	0	11.98	30.00	15.75
3154	end climb: SURFACE_DEPTH_REACHED
state	3154	begin surface coast
3184	end surface coast: CONTROL_FINISHED_OK
state	3184	begin surface